WO2010128429A3 - System and method for operating an exoskeleton adapted to encircle an object of interest - Google Patents

System and method for operating an exoskeleton adapted to encircle an object of interest Download PDF

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Publication number
WO2010128429A3
WO2010128429A3 PCT/IB2010/051851 IB2010051851W WO2010128429A3 WO 2010128429 A3 WO2010128429 A3 WO 2010128429A3 IB 2010051851 W IB2010051851 W IB 2010051851W WO 2010128429 A3 WO2010128429 A3 WO 2010128429A3
Authority
WO
WIPO (PCT)
Prior art keywords
exoskeleton
force
interest
servomotor
current signal
Prior art date
Application number
PCT/IB2010/051851
Other languages
French (fr)
Other versions
WO2010128429A2 (en
Inventor
Jacobus M. A. Van Den Eerenbeemd
Floris M. H. Crompvoets
Original Assignee
Koninklijke Philips Electronics N.V.
Priority date (The priority date is an assumption and is not a legal conclusion. Google has not performed a legal analysis and makes no representation as to the accuracy of the date listed.)
Filing date
Publication date
Application filed by Koninklijke Philips Electronics N.V. filed Critical Koninklijke Philips Electronics N.V.
Priority to BRPI1007086A priority Critical patent/BRPI1007086A2/en
Priority to US13/318,399 priority patent/US8723471B2/en
Priority to JP2012509125A priority patent/JP5529260B2/en
Priority to CN201080019872.2A priority patent/CN102413804B/en
Priority to EP10719391A priority patent/EP2427161A2/en
Priority to RU2011149271/08A priority patent/RU2562761C2/en
Publication of WO2010128429A2 publication Critical patent/WO2010128429A2/en
Publication of WO2010128429A3 publication Critical patent/WO2010128429A3/en

Links

Classifications

    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H31/00—Artificial respiration or heart stimulation, e.g. heart massage
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H1/00—Apparatus for passive exercising; Vibrating apparatus; Chiropractic devices, e.g. body impacting devices, external devices for briefly extending or aligning unbroken bones
    • A61H1/02—Stretching or bending or torsioning apparatus for exercising
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H3/00—Appliances for aiding patients or disabled persons to walk about
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00178—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices for active exercising, the apparatus being also usable for passive exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/00181—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices comprising additional means assisting the user to overcome part of the resisting force, i.e. assisted-active exercising
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B21/00—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices
    • A63B21/005—Exercising apparatus for developing or strengthening the muscles or joints of the body by working against a counterforce, with or without measuring devices using electromagnetic or electric force-resisters
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H11/00—Belts, strips or combs for massage purposes
    • A61H2011/005—Belts, strips or combs for massage purposes with belt or strap expanding and contracting around an encircled body part
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5007—Control means thereof computer controlled
    • A—HUMAN NECESSITIES
    • A61—MEDICAL OR VETERINARY SCIENCE; HYGIENE
    • A61H—PHYSICAL THERAPY APPARATUS, e.g. DEVICES FOR LOCATING OR STIMULATING REFLEX POINTS IN THE BODY; ARTIFICIAL RESPIRATION; MASSAGE; BATHING DEVICES FOR SPECIAL THERAPEUTIC OR HYGIENIC PURPOSES OR SPECIFIC PARTS OF THE BODY
    • A61H2201/00—Characteristics of apparatus not provided for in the preceding codes
    • A61H2201/50—Control means thereof
    • A61H2201/5058—Sensors or detectors
    • A61H2201/5061—Force sensors
    • A—HUMAN NECESSITIES
    • A63—SPORTS; GAMES; AMUSEMENTS
    • A63B—APPARATUS FOR PHYSICAL TRAINING, GYMNASTICS, SWIMMING, CLIMBING, OR FENCING; BALL GAMES; TRAINING EQUIPMENT
    • A63B23/00—Exercising apparatus specially adapted for particular parts of the body
    • A63B23/18—Exercising apparatus specially adapted for particular parts of the body for improving respiratory function
    • A63B23/185—Rhythm indicators

Landscapes

  • Health & Medical Sciences (AREA)
  • Physical Education & Sports Medicine (AREA)
  • General Health & Medical Sciences (AREA)
  • Life Sciences & Earth Sciences (AREA)
  • Animal Behavior & Ethology (AREA)
  • Public Health (AREA)
  • Pain & Pain Management (AREA)
  • Rehabilitation Therapy (AREA)
  • Epidemiology (AREA)
  • Veterinary Medicine (AREA)
  • Orthopedic Medicine & Surgery (AREA)
  • Biophysics (AREA)
  • Heart & Thoracic Surgery (AREA)
  • Cardiology (AREA)
  • Emergency Medicine (AREA)
  • Pulmonology (AREA)
  • Physics & Mathematics (AREA)
  • Electromagnetism (AREA)
  • Manipulator (AREA)
  • Rehabilitation Tools (AREA)
  • Control Of Electric Motors In General (AREA)
  • Percussion Or Vibration Massage (AREA)

Abstract

This invention relates to a servo system for operating an exoskeleton adapted to encircle an object of interest and for supplying a force thereon. A servomotor is coupled to a power source and operates the position of the exoskeleton and thus the force exerted by the exoskeleton on the object of interest. A measuring unit measures a raw driving current signal I raw suplied by the power source to drive the servomotor. A low pass filter applies a low pass frequency filtering on the measured a filtered current signal I filtered. A processing unit determines an actuated current signal I actuated based on the servomotor setting parameters, where I actuated indicates the contribution to I raw from the servomotor when operating the position of the exoskeleton. The processing unit also determines a driving force current signal I force indication the force exerted by the exoskeleton on the object of interest, where I force is proportional to the difference between I filtered and I actuated.
PCT/IB2010/051851 2009-05-05 2010-04-28 System and method for operating an exoskeleton adapted to encircle an object of interest WO2010128429A2 (en)

Priority Applications (6)

Application Number Priority Date Filing Date Title
BRPI1007086A BRPI1007086A2 (en) 2009-05-05 2010-04-28 servosystem to operate an exoskeleton, method of operating an exoskeleton adapted to surround an object of interest and to provide a force to it, a computer program product
US13/318,399 US8723471B2 (en) 2009-05-05 2010-04-28 System and method for operating an exoskeleton adapted to encircle an object of interest
JP2012509125A JP5529260B2 (en) 2009-05-05 2010-04-28 System and method for operating an exoskeleton configured to surround an object of interest
CN201080019872.2A CN102413804B (en) 2009-05-05 2010-04-28 System and method for operating an exoskeleton adapted to encircle an object of interest
EP10719391A EP2427161A2 (en) 2009-05-05 2010-04-28 System and method for operating an exoskeleton adapted to encircle an object of interest
RU2011149271/08A RU2562761C2 (en) 2009-05-05 2010-04-28 System and method of controlling exoskeleton configured to capture object of interest

Applications Claiming Priority (2)

Application Number Priority Date Filing Date Title
EP09159365.7 2009-05-05
EP09159365 2009-05-05

Publications (2)

Publication Number Publication Date
WO2010128429A2 WO2010128429A2 (en) 2010-11-11
WO2010128429A3 true WO2010128429A3 (en) 2011-04-07

Family

ID=42403856

Family Applications (1)

Application Number Title Priority Date Filing Date
PCT/IB2010/051851 WO2010128429A2 (en) 2009-05-05 2010-04-28 System and method for operating an exoskeleton adapted to encircle an object of interest

Country Status (8)

Country Link
US (1) US8723471B2 (en)
EP (1) EP2427161A2 (en)
JP (1) JP5529260B2 (en)
KR (1) KR101648209B1 (en)
CN (1) CN102413804B (en)
BR (1) BRPI1007086A2 (en)
RU (1) RU2562761C2 (en)
WO (1) WO2010128429A2 (en)

Families Citing this family (5)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
WO2016019430A1 (en) * 2014-08-04 2016-02-11 Queensland University Of Technology Breathing training device
EP3490509A4 (en) 2016-08-23 2020-04-01 Superflex, Inc. Systems and methods for portable powered stretching exosuit
US11020261B2 (en) 2016-08-23 2021-06-01 Seismic Holdings, Inc. Patch systems for use with assistive exosuit
WO2018107085A1 (en) * 2016-12-08 2018-06-14 Superflex, Inc. Patch systems for use with assistive exosuit
CN109044800A (en) * 2018-06-26 2018-12-21 深圳市安保科技有限公司 Localization method, device, equipment and the storage medium of pressing plate

Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5716330A (en) * 1995-07-13 1998-02-10 Goldman; David A. Body and limb position/motion detector and power assist apparatus and method
US20020077224A1 (en) * 2000-12-19 2002-06-20 Slawinski Michael D. Interlock apparatus for fitness equipment
US20070203433A1 (en) * 2006-02-27 2007-08-30 Murphy Martin P Relaxation inducing apparatus

Family Cites Families (12)

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SU721092A1 (en) * 1977-04-18 1980-03-15 Институт Проблем Передачи Информации Ан Ссср Device for control of exoskeleton's extremities movement
SU759099A1 (en) * 1978-02-17 1980-08-30 Институт Проблем Передачи Информации Ан Ссср Apparatus for coordinating motions of exoskeleton limbs
SU942735A1 (en) * 1979-07-18 1982-07-15 Ленинградский Ордена Ленина Политехнический Институт Им.М.И.Калинина Apparatus for controlling exoskeleton movement
US7548037B2 (en) * 1992-04-22 2009-06-16 Nartron Corporation Collision monitoring system
JP2914610B2 (en) * 1994-06-28 1999-07-05 本田技研工業株式会社 Electric power steering device
US6332629B1 (en) * 1998-10-23 2001-12-25 Nsk, Ltd. Seatbelt device with locking retractor
JP4146970B2 (en) 1999-06-25 2008-09-10 オートリブ株式会社 Seat belt device
US6162183A (en) 1999-02-02 2000-12-19 J&J Engineering Respiration feedback monitor system
JP4358544B2 (en) * 2003-04-08 2009-11-04 オリンパス株式会社 Ultrasonic actuator driving apparatus and ultrasonic actuator driving method
US7270639B2 (en) * 2003-10-14 2007-09-18 Zoll Circulation, Inc. Temperature regulation system for automatic chest compression housing
US20070123997A1 (en) * 2005-03-31 2007-05-31 Massachusetts Institute Of Technology Exoskeletons for running and walking
KR100653644B1 (en) * 2006-01-04 2006-12-05 삼성전자주식회사 Portable device for guiding user`s breathing and method of operating the device

Patent Citations (3)

* Cited by examiner, † Cited by third party
Publication number Priority date Publication date Assignee Title
US5716330A (en) * 1995-07-13 1998-02-10 Goldman; David A. Body and limb position/motion detector and power assist apparatus and method
US20020077224A1 (en) * 2000-12-19 2002-06-20 Slawinski Michael D. Interlock apparatus for fitness equipment
US20070203433A1 (en) * 2006-02-27 2007-08-30 Murphy Martin P Relaxation inducing apparatus

Also Published As

Publication number Publication date
US8723471B2 (en) 2014-05-13
WO2010128429A2 (en) 2010-11-11
US20120043920A1 (en) 2012-02-23
JP2012525901A (en) 2012-10-25
RU2562761C2 (en) 2015-09-10
CN102413804A (en) 2012-04-11
KR20120023735A (en) 2012-03-13
RU2011149271A (en) 2013-06-10
CN102413804B (en) 2014-04-23
KR101648209B1 (en) 2016-08-12
BRPI1007086A2 (en) 2016-03-01
EP2427161A2 (en) 2012-03-14
JP5529260B2 (en) 2014-06-25

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